version: 66.11
glider: 187
mission: 2
dive: 54
start: 9 25 112 2 31 6
data:
$ID,187
$MISSION,2
$DIVE,54
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1040
$D_NO_BLEED,200
$D_BOOST,4
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,450
$T_MISSION,500
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51761
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0031000001
$HD_B,0.0093
$HD_C,4.5000001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1587686.1
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,155
$PITCH_MAX,3970
$C_PITCH,3195
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,32
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,236
$ROLL_MAX,3800
$ROLL_DEG,40
$C_ROLL_DIVE,2175
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,470
$VBD_MAX,3960
$C_VBD,2794
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00039999999
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-61.06522
$PRESSURE_SLOPE,0.0001138132
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,12
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,3
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.69999999
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,83
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043543722
$SEABIRD_T_H,0.00062483409
$SEABIRD_T_I,2.3277114e-05
$SEABIRD_T_J,2.4402393e-06
$SEABIRD_C_G,-9.9786949
$SEABIRD_C_H,1.1107863
$SEABIRD_C_I,-0.0017547003
$SEABIRD_C_J,0.0002234884
$GPS1,250912,022336,4713.749,-12633.264,48,1.2,48,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-72.4
$GPS2,250912,023036,4713.732,-12633.330,11,1.7,16,18.6
$SPEED_LIMITS,0.127,0.220
$TGT_NAME,ONSHORE
$TGT_LATLONG,4758.000,-12457.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.160,-0.151
$KALMAN_X,28840.3,-242.5,2380.9,-124483.9,-7867.0
$KALMAN_Y,16218.2,688.6,-1323.7,-71650.8,4158.7
$MHEAD_RNG_PITCHd_Wd,44.1,144880,-13.4,-7.333,-18.42
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.48,-146.0,0.0,0.0,0,90,0.00,0.00,-71.35,0.000,2,0.000,0.000,115,2164,2818,0,0,0,0,0,0,28.83,28.83,28.83
$GC,94,-0.48,-146.0,3.9,-7.2,12,123,11.38,2.30,-10.57,0.000,4,0.226,0.063,3036,757,3393,0,0,0,0,0,0,25.34,25.59,25.90
$GC,186,-0.48,-146.0,30.1,-17.0,28,194,0.00,2.25,0.00,0.000,6,0.000,0.050,3028,2172,3396,0,0,0,0,0,0,28.83,25.65,28.83
$GC,502,-0.48,-146.0,70.8,-11.7,89,509,0.00,2.20,0.00,0.000,4,0.000,0.048,3028,767,3400,0,0,0,0,0,0,28.83,25.84,28.83
$GC,531,-0.48,-146.0,74.5,-12.1,94,539,0.00,2.22,0.00,0.000,6,0.000,0.048,3018,2182,3400,0,0,0,0,0,0,28.83,25.86,28.83
$GC,848,-0.48,-146.0,113.5,-12.0,155,855,0.00,2.17,0.00,0.000,4,0.000,0.048,3018,767,3401,0,0,0,0,0,0,28.83,25.97,28.83
$GC,874,-0.48,-146.0,116.8,-12.7,159,883,0.12,2.17,0.00,0.000,6,0.149,0.048,3042,2187,3401,0,0,0,0,0,0,25.89,25.98,28.83
$GC,1194,-0.48,-146.0,146.0,-8.5,183,1199,0.00,2.17,0.00,0.000,4,0.000,0.061,3034,3587,3401,0,0,0,0,0,0,28.83,26.03,28.83
$GC,1224,-0.48,-146.0,148.7,-8.6,185,1229,0.00,2.17,0.00,0.000,6,0.000,0.042,3033,2160,3401,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1533,-0.48,-146.0,178.0,-9.9,205,1534,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2157,3401,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1832,-0.48,-146.0,207.7,-9.5,225,1838,0.00,2.25,0.00,0.000,4,0.000,0.061,3023,3591,3400,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1857,-0.48,-146.0,209.1,-9.5,226,1863,0.00,2.15,0.00,0.000,6,0.000,0.043,3023,2169,3400,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2164,-0.48,-146.0,239.9,-9.7,247,2165,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2167,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2462,-0.48,-146.0,268.5,-9.6,267,2468,0.00,2.20,0.00,0.000,4,0.000,0.063,3012,3578,3398,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2492,-0.48,-146.0,271.6,-10.0,269,2498,0.00,2.12,0.00,0.000,6,0.000,0.044,3012,2172,3398,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2807,-0.48,-146.0,304.2,-10.4,290,2808,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2169,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3109,-0.48,-146.0,334.5,-10.1,310,3110,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2169,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3407,-0.48,-146.0,364.9,-9.8,330,3413,0.00,2.22,0.00,0.000,4,0.000,0.064,3002,3584,3395,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3430,-0.48,-146.0,366.3,-9.8,331,3438,0.15,2.15,0.00,0.000,6,0.136,0.045,3045,2164,3396,0,0,0,0,0,0,26.20,26.30,28.83
$GC,3738,-0.48,-146.0,391.3,-7.7,352,3739,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2164,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4037,-0.48,-146.0,413.6,-7.4,366,4038,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2164,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4337,-0.48,-146.0,437.1,-7.9,376,4343,0.00,2.25,0.00,0.000,4,0.000,0.066,3037,3585,3393,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4367,-0.48,-146.0,439.5,-7.8,377,4373,0.00,2.15,0.00,0.000,6,0.000,0.047,3037,2175,3393,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4697,-0.48,-146.0,466.6,-8.1,388,4698,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2173,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4997,-0.48,-146.0,489.4,-7.3,398,5003,0.00,2.20,0.00,0.000,4,0.000,0.067,3027,3579,3391,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5041,-0.48,-146.0,491.6,-7.2,399,5044,0.00,2.15,0.00,0.000,6,0.000,0.047,3026,2173,3391,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5357,-0.48,-146.0,516.4,-7.6,410,5363,0.00,2.15,0.00,0.000,4,0.000,0.054,3026,772,3391,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5380,-0.48,-146.0,516.4,-7.6,410,5388,0.00,2.17,0.00,0.000,6,0.000,0.054,3018,2180,3390,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5688,-0.48,-146.0,542.7,-7.7,421,5693,0.00,2.17,0.00,0.000,4,0.000,0.067,3007,3581,3389,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5736,-0.48,-146.0,545.2,-7.9,422,5740,0.12,2.12,0.00,0.000,6,0.138,0.047,3043,2175,3389,0,0,0,0,0,0,26.27,26.36,28.83
$GC,6043,-0.48,-146.0,565.9,-6.2,432,6048,0.00,2.20,0.00,0.000,4,0.000,0.067,3034,3581,3389,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6066,-0.48,-146.0,565.9,-6.2,432,6072,0.00,2.15,0.00,0.000,6,0.000,0.047,3034,2164,3389,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6373,-0.48,-146.0,588.7,-6.9,443,6378,0.00,2.22,0.00,0.000,4,0.000,0.067,3024,3584,3388,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6396,-0.48,-146.0,588.7,-6.9,443,6403,0.00,2.15,0.00,0.000,6,0.000,0.048,3024,2168,3388,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6702,-0.48,-146.0,613.9,-7.8,454,6704,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2167,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7003,-0.48,-146.0,638.3,-8.3,464,7008,0.00,2.25,0.00,0.000,4,0.000,0.067,3014,3587,3387,0,0,0,0,0,0,28.83,26.33,28.83
$GC,7032,-0.48,-146.0,641.0,-8.3,465,7038,0.00,2.15,0.00,0.000,6,0.000,0.047,3014,2175,3387,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7363,-0.48,-146.0,670.1,-9.0,476,7368,0.00,2.20,0.00,0.000,4,0.000,0.067,3004,3581,3386,0,0,0,0,0,0,28.83,26.33,28.83
$GC,7392,-0.48,-146.0,672.8,-9.0,477,7399,0.12,2.15,0.00,0.000,6,0.142,0.048,3039,2168,3386,0,0,0,0,0,0,26.29,26.38,28.83
$GC,7723,-0.48,-146.0,698.1,-7.5,488,7724,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2166,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8023,-0.48,-146.0,721.2,-7.7,498,8028,0.00,2.22,0.00,0.000,4,0.000,0.068,3031,3584,3385,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8090,-0.48,-146.0,726.1,-8.0,500,8094,0.00,2.15,0.00,0.000,6,0.000,0.048,3030,2173,3385,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8407,-0.48,-146.0,752.2,-7.8,511,8413,0.00,2.22,0.00,0.000,4,0.000,0.068,3021,3582,3384,0,0,0,0,0,0,28.83,26.33,28.83
$GC,8440,-0.48,-146.0,754.7,-7.8,512,8444,0.00,2.15,0.00,0.000,6,0.000,0.049,3021,2171,3384,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8762,-0.48,-146.0,781.4,-8.0,523,8763,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2169,3384,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9063,-0.48,-146.0,803.8,-7.3,533,9068,0.00,2.20,0.00,0.000,4,0.000,0.068,3011,3578,3383,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9106,-0.48,-146.0,806.0,-7.3,534,9110,0.00,2.15,0.00,0.000,6,0.000,0.049,3011,2166,3383,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9418,-0.48,-146.0,830.6,-7.5,545,9423,0.00,2.25,0.00,0.000,4,0.000,0.068,3001,3592,3383,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9441,-0.48,-146.0,830.6,-7.5,545,9448,0.15,2.17,0.00,0.000,6,0.132,0.049,3045,2163,3383,0,0,0,0,0,0,26.30,26.39,28.83
$GC,9749,-0.48,-146.0,850.7,-6.0,556,9750,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2164,3383,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10048,-0.48,-146.0,868.6,-6.0,566,10054,0.00,2.22,0.00,0.000,4,0.000,0.069,3037,3587,3382,0,0,0,0,0,0,28.83,26.34,28.83
$GC,10111,-0.48,-146.0,872.5,-6.3,568,10116,0.00,2.15,0.00,0.000,6,0.000,0.049,3037,2173,3382,0,0,0,0,0,0,28.83,26.39,28.83
$GC,10434,-0.48,-146.0,894.2,-6.5,579,10440,0.00,2.20,0.00,0.000,4,0.000,0.069,3027,3578,3382,0,0,0,0,0,0,28.83,26.34,28.83
$GC,10472,-0.48,-146.0,896.2,-6.5,580,10476,0.00,2.15,0.00,0.000,6,0.000,0.050,3027,2172,3382,0,0,0,0,0,0,28.83,26.39,28.83
$GC,10794,-0.48,-146.0,919.2,-6.9,591,10799,0.00,2.20,0.00,0.000,4,0.000,0.069,3017,3577,3382,0,0,0,0,0,0,28.83,26.34,28.83
$GC,10826,-0.48,-146.0,921.3,-6.9,592,10830,0.00,2.15,0.00,0.000,6,0.000,0.050,3017,2166,3381,0,0,0,0,0,0,28.83,26.39,28.83
$GC,11149,-0.48,-146.0,944.5,-7.0,603,11150,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2163,3381,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11449,-0.48,-146.0,964.8,-6.7,613,11454,0.00,2.22,0.00,0.000,4,0.000,0.069,3007,3579,3381,0,0,0,0,0,0,28.83,26.34,28.83
$GC,11513,-0.48,-146.0,969.1,-7.0,615,11520,0.12,2.15,0.00,0.000,6,0.138,0.050,3043,2165,3381,0,0,0,0,0,0,26.31,26.39,28.83
$GC,11839,-0.48,-146.0,987.2,-5.3,626,11844,0.00,2.25,0.00,0.000,4,0.000,0.070,3034,3582,3381,0,0,0,0,0,0,28.83,26.34,28.83
$GC,11877,-0.48,-146.0,988.8,-5.3,627,11881,0.00,2.15,0.00,0.000,6,0.000,0.050,3034,2179,3381,0,0,0,0,0,0,28.83,26.39,28.83
$STATE,11897,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11897,begin apogee
$GC,11904,-0.22,0.0,990.6,-5.4,628,12035,0.25,0.00,125.47,1.206,6,0.118,0.000,3121,2308,2794,0,0,0,0,0,0,26.31,28.83,23.66
$STATE,12038,end apogee,CONTROL_FINISHED_OK
$STATE,12038,begin climb
$GC,12041,0.48,146.0,993.1,0.0,632,12182,0.65,2.45,133.57,1.172,4,0.084,0.069,3342,3698,2198,0,0,0,0,0,0,24.58,24.10,23.36
$GC,12210,0.48,146.0,982.7,7.9,638,12215,0.00,2.33,0.00,0.000,6,0.000,0.050,3352,2301,2193,0,0,0,0,0,0,28.83,24.53,28.83
$GC,12525,0.48,146.0,948.1,10.3,649,12526,0.00,0.00,0.00,0.000,6,0.000,0.000,3352,2297,2187,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,23443,end climb,SURFACE_DEPTH_REACHED
$STATE,23443,begin surface coast
$FINISH,0.6,1.011279
$STATE,23506,end surface coast,CONTROL_FINISHED_OK
$STATE,23506,begin surface
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$TT8_MAMPS,0.026964,0.026964
$HUMID,44.05
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$TCM_TEMP,15.50
$XPDR_PINGS,0
$24V_AH,23.4,9.970
$10V_AH,10.2,8.906
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.125,207.650,424.550,0.000,0.000,28.511,42.686,212.297,0.000,0.000,17.406,3653.893,16206.681,583.117,3158.136,393.078,0.000,2086.098,0.000,2841.871,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
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$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297136
$DATA_FILE_SIZE,80124,1421
$CAP_FILE_SIZE,201138,0
$CFSIZE,260165632,252526592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.033,270.0,1
$GPS,250912,090550,4715.347,-12629.175,40,5.2,59,18.6